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We recently pushed an update of our censusr
package to CRAN. censusr allows R users to download data from the US Census
Bureau's API directly to their workspaces, enabling scripting and powerful analyses.

You can install the latest version of censusr with:

install.packages("censusr")

See the package vignette on how to setup your API key. Once your API key is in
place, you can query the number of households in Wake County, North Carolina
(GEOID = "37183") by vehicles available (B08201_002E through BO8201_006E)
like this: